US7944168B2 - Device for controlling a rotating electrical machine - Google Patents

Device for controlling a rotating electrical machine Download PDF

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Publication number
US7944168B2
US7944168B2 US11/570,930 US57093005A US7944168B2 US 7944168 B2 US7944168 B2 US 7944168B2 US 57093005 A US57093005 A US 57093005A US 7944168 B2 US7944168 B2 US 7944168B2
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Prior art keywords
rotor
signals
sensors
magnetic field
matrix
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US20080309266A1 (en
Inventor
Michaël Chemin
Frédéric Leroux
Gilbert Konan
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Valeo Equipements Electriques Moteur SAS
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Valeo Equipements Electriques Moteur SAS
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Assigned to VALEO EQUIPEMENTS ELECTRIQUES MOTEUR reassignment VALEO EQUIPEMENTS ELECTRIQUES MOTEUR ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CHEMIN, MICHAEL, KONAN, GILBERT, LEROUX, FREDERIC
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24409—Interpolation using memories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the present invention concerns a device for determining the position of a rotor of a rotary electrical machine comprising a stator.
  • the invention finds a particularly advantageous application in the field of reversible machines, or alternator/starters, used in the automotive industry, both in alternator mode and in motor mode on starting up or as an assistance to takeoff (boosting) as from 500 revolutions/minute.
  • a reversible machine comprises an alternator including:
  • the alternator converts a rotation movement of the rotor driven by the thermal engine of the vehicle into an electric current induced in the stator windings.
  • the alternator may also be reversible and compose an electric motor, or rotary electrical machine, making it possible to drive in rotation, via the rotary shaft, the thermal engine of the vehicle.
  • This reversible alternator is called an alternator/starter. It converts mechanical energy into electrical energy and vice versa.
  • the alternator/starter charges in particular the vehicle battery and consumers whilst in starter mode the alternator/starter drives the thermal engine, also referred to as the internal combustion engine, of the motor vehicle in order to start it.
  • the thermal engine also referred to as the internal combustion engine
  • stator In reversible machines in the automotive industry, for example, functioning according to motor or starter modes, the stator must be controlled for current so as to at all times apply to the rotor the torque necessary both for starting it up and to impart to it the required rotation for the functioning of the motor.
  • this torque to be applied to the rotor, and therefore the current to be supplied to the phases of the stator is a sinusoidal function of the position, referenced by the angle ⁇ , of the rotor with respect to the stator, and hence the need to determine this position precisely.
  • resolver disposed at the end of the shaft of the rotor of the machine.
  • Such a resolver is described in U.S. Patent Publication No. 2002/0063491 A1. It has itself a stator and a rotor that are respectively fixed with respect to the stator and rotor of the machine.
  • the resolver measurers the magnetic field issuing from its own rotor. This magnetic field, being fixed with respect to the rotor, which is itself fixed with respect to the rotor of the machine, represents the position of the actual rotor of the machine.
  • the technical problem to be resolved by the object of the present invention is to propose a device for determining the position of the rotor of a rotary electrical machine comprising a stator, which would make it possible to obtain the precise position sought whilst being inexpensive, simple to implement and insensitive to magnetic disturbance.
  • the solution to the technical problem posed consists, according to the present invention, of a device comprising a plurality of magnetic field sensors fixed with respect to the stator and able to deliver first signals representing a rotating magnetic field detected by the sensors, and means of processing the first signals by an operator able to supply second signals depending on the position.
  • the first signals are three-phase electrical signals and the second signals are two-phase electrical signals.
  • the operator is represented by a matrix for projecting a multiphase reference frame in a two-phase reference frame.
  • the projection matrix is a Concordia matrix.
  • the projection matrix is Clark's matrix.
  • the device according to the invention leads to a precise determination of the position of the rotor because in particular of its independence vis-à-vis many parameters and its insensitivity to various disturbances and stray phenomena.
  • the invention makes provision for the sensors to be Hall effect sensors.
  • the advantage of this type of sensor is that they are inexpensive and simple to use.
  • the plurality of sensors is composed of three sensors electrically out of phase by 120°.
  • the plurality of sensors is composed of two sensors electrically out of phase by 90°.
  • the rotary magnetic field necessary for the functioning of the device according to the invention can be obtained according to two different production methods.
  • the magnetic field is the magnetic field created by the rotor, while in a second production method the magnetic field is created by a magnetized target connected to the rotor shaft.
  • the device according to the invention does not involve any expensive equipment since in the first case the magnetic field is directly supplied by the rotor itself and in the second case the magnetic field is supplied by a target, since a direct calculation is made of the position of the rotor with respect to a magnetic field of the rotor or of the target, the latter being less expensive than a resolver.
  • FIG. 1 is a view in axial section of a rotary electrical machine comprising a position determination device according to the invention
  • FIG. 2 is a view in the direction of the arrow 2 of the rotary electrical machine in FIG. 1 ,
  • FIG. 3 is a perspective view of a sensor holder of the determination device of the invention in FIG. 1 ,
  • FIG. 4 is a schematic representation of a rotary electrical machine of FIG. 1 comprising an embodiment of a position determination device according to the invention
  • FIG. 5 is a diagram of the method of producing the position determination device of FIG. 4 .
  • FIG. 6 is a diagram showing the variations in the sensor output signals of the device of FIG. 4 .
  • FIG. 7 is a diagram of a sequence for the processing of the signals by the position determination device of FIG. 4 .
  • FIG. 1 depicts such a rotary electrical machine comprising, in a first embodiment:
  • the rotary electrical machine is equivalent to that described in FIG. 1 but does not comprise a target 50 .
  • a rotor comprising eight pairs of poles will be taken as an example.
  • the device for determining the position ⁇ (t) of the rotor 4 comprises:
  • the magnetic field sensors 52 are located facing the target 50 , and the sensor holder 53 is fixed to the face of the rear bearing 14 turned in the opposite direction to the target 50 , as illustrated in FIG. 2 , FIG. 2 being a view in the direction of the arrow 2 in FIG. 1 without the cover 17 .
  • the sensors 52 are located radially opposite the target 50 , perpendicular with respect to the shaft 3 of the rotor 4 , with the definition of an air gap between the sensors and the target so that the reading is radial, as illustrated in FIG. 1 .
  • the sensors 52 are located axially opposite the target 50 , in the axis of the shaft 3 of the rotor 4 , with the definition of an air gap between the sensors and the target so that the reading is axial.
  • the magnet field sensors 52 are located facing the rotor 4 and the sensor holder 53 is fixed to the face of the front bearing 13 .
  • the sensors 52 are located radially on the side of the rotor 50 , perpendicular with respect to the shaft 3 of the rotor 4 so that the reading is radial.
  • the sensors 52 are located axially on the top of the rotor 4 , in the axis of the shaft 3 of the rotor 4 , so that the reading is axial.
  • the sensors are molded onto the sensor holder 53 , the latter preferably being made from plastics material. This enables the assembly consisting of sensor and sensor holder to be impervious and thus to be less sensitive to salt spray and dust.
  • FIG. 3 shows an example of an embodiment of a sensor holder 53 for radial reading.
  • the sensor holder 53 comprises in particular:
  • FIG. 4 is a schematic representation of elements of the rotary electrical machine 1 comprising an embodiment of the rotor position determination device according to the invention.
  • FIG. 5 is another schematic representation of the device for determining the position ⁇ (t) of the rotor 4 . More precisely, the expression position of the rotor means the position of a direction Oy relating to the rotation movement of the rotor taken with respect to a fixed direction Ox relating to the sensor holder 53 and therefore fixed with respect to the stator 8 .
  • the set of sensors is composed of three Hall effect sensors 52 u , 52 v , 52 w out of phase with one another by 120° electrical.
  • Another arrangement of sensors can however be provided.
  • the advantage of Hall effect sensors is to measure a magnetic field and to transpose this measurement into a signal representing the magnetic field with a quantity equivalent to a voltage, frequency, current, numerical, etc.
  • the sensors 52 u , 52 v , 52 w are intended to supply first signals s u s v and s w representing a magnetic field detected at each sensor and created by the movement of the rotor in the stator.
  • the three sensors measure the magnetic field at the same time at different points. This magnetic field is a sum of the various magnetic fields issuing from various sources.
  • the magnetic field is created by the target 50 with in addition, where applicable, a stray field created by the magnet wheels 41 , 42 of the rotor 4 itself.
  • the magnet field is created by the rotor 4 itself.
  • the first signals are three-phase electrical signals.
  • the first signals can also be numerical signals representing the magnetic field.
  • FIG. 6 illustrates the variations over time in the first signals s u , s v , and s w delivered by the three sensors 52 u , 52 v and 52 w in the case of three-phase electrical signals.
  • These first ones have a continuous offset component s offset including where applicable the magnetic disturbances created by the rotor 4 , and a substantially sinusoidal component reproducing the variations in the magnetic field detected by each sensor.
  • Such an offset may have the value 2.5 V.
  • the sinusoidal component depends in particular on the position of the sensor with respect to the rotor 4 (the case of the second embodiment) or to the target 50 (the case of the first embodiment), this position being determined by the distance are illustrated in FIG. 5 . More precisely, the component varies as a function of 1/R 2 .
  • the maximum of the signals is reached when the sensor is situated opposite a North pole of the rotor 4 (the case of the second embodiment) or the target 50 (the case of the first embodiment).
  • the signals are on the other hand at a minimum whenever a sensor is situated opposite a South pole of the rotor 4 (the case of the second embodiment) or of the target 50 (the case of the first embodiment).
  • FIG. 7 gives a diagram of a processing sequence making it possible to precisely extract the position ⁇ (t) of the signals s u , s v and s w .
  • the signal processing means MC which are preferentially a microcontroller situated in the electronic part that controls the machine, an electronic part that is in a known manner situated in an external housing or integrated in the machine.
  • a first step there is applied to the first signal s u , s v and s w issuing from the sensors 52 an operator represented by a projection matrix M able to supply second signals sin ⁇ (t) and cos ⁇ (t) dependent on the position ⁇ (t) of the rotor 4 .
  • the matrix M is a matrix of projection of a multiphase reference frame to a two-phase reference frame, thus converting multiphase signals into two-phase signals.
  • the multiphase reference frame is a three-phase reference frame.
  • the third output component h is not used in the context of the invention. It is composed of an average of the offset components s offset and a signal whose amplitude is a function of a phase-shift error between the signals supplied by the Hall effect sensors in the case where the sensors are not properly mounted so that the first signals are not exactly out of phase by 120° for example.
  • the projection matrix M is a matrix that is the inverse of a matrix known by the name Concordia matrix C.
  • [ C ] ( 2 / 3 ) ⁇ ⁇ 1 0 1 / 2 - 1 / 2 ( 3 ) / 2 1 / 2 - 1 / 2 ( 3 ) / 2 1 / 2 ⁇ is an example of an applicable Concordia matrix, that is to say
  • [ C ] - 1 ( 2 / 3 ) ⁇ ⁇ 1 - 1 / 2 - 1 / 2 0 3 / 2 - 3 / 2 1 / 2 1 / 2 ⁇
  • the projection matrix M is a matrix that is the inverse of a matrix known by the name Clark's matrix C.
  • [ C ] ⁇ 1 0 1 - 1 / 2 - ( 3 ) / 2 1 - 1 / 2 ( 3 ) / 2 1 ⁇ is an example of a Clark's matrix applicable, that is to say
  • [ C ] - 1 2 / 3 ⁇ ⁇ 1 - 1 / 2 - 1 / 2 0 - ( 3 ) / 2 ( 3 ) / 2 1 / 2 1 / 2 ⁇
  • coefficients of these projection matrices are constant but are a function of conventions such as the direction of rotation taken of the three-phase currents, the intensity of its currents etc. Thus it is possible to have a different standardization factor.
  • the argument of an angle ⁇ (t) is calculated from the second two signals sin ⁇ (t) and cos ⁇ (t), the angle ⁇ (t) representing the position of the rotor 4 .
  • one of the advantages of the processing illustrated in FIG. 7 is that it is independent of parameters such as the amplitude of the first signals s u , s v and s w or such as the offsets s offset , which makes the result of the determination of the position ⁇ (t) insensitive to magnetic disturbances, in accordance with an aim of the invention.
  • the device according to the invention that has just been described with regard to FIGS. 1 to 7 is also insensitive to the common mode interference that could be applied to the first output signals, s u , s v and s w of the magnetic field sensors 52 u , 52 v and 52 w .
  • common mode interference is due to differences in references between a first signal measured by a sensor and referenced with respect to the earth of the sensor and the first signal received by the microcontroller MC and referenced with respect to the earth of the microcontroller MC. It may happen that the two references are offset with respect to each other, this offset introducing an error called common mode interference.
  • this common mode interference is also dispensed with the offset s offset due to a sensor (that is to say the 2.5 V referenced with respect to the earth of the sensor), this common mode interference is also dispensed with
  • the device for determining the position according to the invention can also be implemented in all the electrical machines where the position of the rotor with respect to the stator must be known with precision.
  • the invention is thus applicable to any type of electrical machine and for different functionings.
  • the invention can in fact apply to machines functioning as an alternator alone, as a motor alone or as an alternator/starter, and of the asynchronous machine type, synchronous machines with claws and with or without inter-pole magnets, or machines with rotor with permanent magnets.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)
US11/570,930 2004-06-30 2005-06-30 Device for controlling a rotating electrical machine Active 2027-01-29 US7944168B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0407262 2004-06-30
FR0407262A FR2872644B1 (fr) 2004-06-30 2004-06-30 Dispositif de commande d'une machine electrique tournante
PCT/FR2005/001663 WO2006010864A2 (fr) 2004-06-30 2005-06-30 Dispositif de commande d’une machine electrique tournante

Publications (2)

Publication Number Publication Date
US20080309266A1 US20080309266A1 (en) 2008-12-18
US7944168B2 true US7944168B2 (en) 2011-05-17

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US (1) US7944168B2 (fr)
EP (1) EP1776593A2 (fr)
JP (1) JP2008504799A (fr)
KR (1) KR20070047250A (fr)
CN (1) CN101076733B (fr)
BR (1) BRPI0512289A (fr)
CA (1) CA2566909A1 (fr)
FR (1) FR2872644B1 (fr)
MX (1) MXPA06014538A (fr)
RU (1) RU2007103362A (fr)
WO (1) WO2006010864A2 (fr)

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US20160226350A1 (en) * 2013-09-20 2016-08-04 Valeo Equipements Electriques Moteur Polyphase electric motor equipped with a device for determination of the angular position and/or the speed of rotation of a rotor of the said motor

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FR2931598B1 (fr) * 2008-05-23 2010-05-14 Valeo Equip Electr Moteur Dispositif de determination de la position angulaire d'un rotor d'une machine electrique tournante polyphasee et machine electrique tournante comprenant un tel dispositif
FR2932330B1 (fr) 2008-06-04 2010-06-04 Valeo Equip Electr Moteur Dispositif de commande d'une machine electrique tournante synchrone polyphasee et machine electrique tournante synchrone polyphasee comprenant un tel dispositif
FR2937127B1 (fr) * 2008-10-10 2010-12-31 Valeo Equip Electr Moteur Dispositif magnetique de determination de position angulaire produisant un signal sinusoidal et machine electrique tournante polyphasee comprenant un tel dispositif.
FR2943781B1 (fr) 2009-03-31 2011-03-25 Valeo Equip Electr Moteur Procede et dispositif de diagnostic de defauts de fonctionnement de sondes de determination de la position angulaire d'un rotor d'une machine electrique tournante polyphasee
US7972112B2 (en) * 2009-10-29 2011-07-05 General Electric Company Systems and methods for determining the angular position of a wind turbine rotor
FR2952431B1 (fr) 2009-11-09 2012-05-11 Sagem Defense Securite Capteur de position angulaire, et ensemble comportant un systeme rotatif et un tel capteur
CA2819319A1 (fr) * 2010-12-13 2012-06-21 Schlumberger Canada Limited Forage optimise
GB2483177B (en) * 2011-10-19 2013-10-02 Protean Electric Ltd An electric motor or generator
DE102018210816A1 (de) * 2018-06-30 2020-01-02 Robert Bosch Gmbh Sensorvorrichtung für eine elektrische Maschine, Verfahren zum Betreiben einer Sensorvorrichtung
FR3098049B1 (fr) * 2019-06-27 2023-02-10 Valeo Equip Electr Moteur Palier plastique pour machine électrique tournante
FR3138745A1 (fr) * 2022-08-02 2024-02-09 Valeo Equipements Electriques Moteur Dispositif de détermination de la position angulaire d’un rotor de machine électrique tournante

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Publication number Priority date Publication date Assignee Title
US20160226350A1 (en) * 2013-09-20 2016-08-04 Valeo Equipements Electriques Moteur Polyphase electric motor equipped with a device for determination of the angular position and/or the speed of rotation of a rotor of the said motor
US10103605B2 (en) * 2013-09-20 2018-10-16 Valeo Equipements Electriques Moteur Polyphase electric motor with device for determination of angular position and/or speed of rotation of rotor of the motor

Also Published As

Publication number Publication date
KR20070047250A (ko) 2007-05-04
MXPA06014538A (es) 2007-03-23
EP1776593A2 (fr) 2007-04-25
CN101076733A (zh) 2007-11-21
RU2007103362A (ru) 2008-08-10
CN101076733B (zh) 2010-11-10
BRPI0512289A (pt) 2008-03-25
WO2006010864A2 (fr) 2006-02-02
FR2872644A1 (fr) 2006-01-06
US20080309266A1 (en) 2008-12-18
JP2008504799A (ja) 2008-02-14
WO2006010864A3 (fr) 2006-08-03
FR2872644B1 (fr) 2006-10-06
CA2566909A1 (fr) 2006-02-02

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